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Implemented rotator tracking configuration.
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@jluhrs
jluhrs committed Oct 26, 2023
1 parent a071674 commit 3634c17
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Showing 14 changed files with 318 additions and 188 deletions.
74 changes: 38 additions & 36 deletions modules/model/shared/src/main/scala/navigate/model/NavigateCommand.scala
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Original file line number Diff line number Diff line change
Expand Up @@ -57,47 +57,49 @@ object NavigateCommand {
case object InstSpecifics extends NavigateCommand
case object OiwfsTarget extends NavigateCommand
case object OiwfsProbeTracking extends NavigateCommand
case object RotatorTrackingConfig extends NavigateCommand

given Eq[NavigateCommand] = Eq.fromUniversalEquals

extension (self: NavigateCommand) {
def name: String = self match {
case McsFollow(_) => "Mcs Follow"
case ScsFollow(_) => "Scs Follow"
case CrcsFollow(_) => "Crcs Follow"
case Pwfs1Follow(_) => "Pwfs1 Follow"
case Pwfs2Follow(_) => "Pwfs2 Follow"
case OiwfsFollow(_) => "Oiwfs Follow"
case AowfsFollow(_) => "Aowfs Follow"
case Cwfs1Follow(_) => "Cwfs1 Follow"
case Cwfs2Follow(_) => "Cwfs2 Follow"
case Cwfs3Follow(_) => "Cwfs3 Follow"
case Odgw1Follow(_) => "Odgw1 Follow"
case Odgw2Follow(_) => "Odgw2 Follow"
case Odgw3Follow(_) => "Odgw3 Follow"
case Odgw4Follow(_) => "Odgw4 Follow"
case McsPark => "Mcs Park"
case ScsPark => "Scs Park"
case CrcsPark => "Crcs Park"
case Pwfs1Park => "Pwfs1 Park"
case Pwfs2Park => "Pwfs2 Park"
case OiwfsPark => "Oiwfs Park"
case AowfsPark => "Aowfs Park"
case Cwfs1Park => "Cwfs1 Park"
case Cwfs2Park => "Cwfs2 Park"
case Cwfs3Park => "Cwfs3 Park"
case Odgw1Park => "Odgw1 Park"
case Odgw2Park => "Odgw2 Park"
case Odgw3Park => "Odgw3 Park"
case Odgw4Park => "Odgw4 Park"
case CrcsStop(_) => "Crcs Stop"
case CrcsMove(_) => "Crcs Move"
case _: EcsCarouselMode => "Ecs Carousel Mode"
case _: EcsVentGatesMove => "Ecs Vent Gates Move"
case Slew => "Slew"
case InstSpecifics => "Instrument Specifics"
case OiwfsTarget => "OIWFS"
case OiwfsProbeTracking => "OIWFS Probe Tracking"
case McsFollow(_) => "Mcs Follow"
case ScsFollow(_) => "Scs Follow"
case CrcsFollow(_) => "Crcs Follow"
case Pwfs1Follow(_) => "Pwfs1 Follow"
case Pwfs2Follow(_) => "Pwfs2 Follow"
case OiwfsFollow(_) => "Oiwfs Follow"
case AowfsFollow(_) => "Aowfs Follow"
case Cwfs1Follow(_) => "Cwfs1 Follow"
case Cwfs2Follow(_) => "Cwfs2 Follow"
case Cwfs3Follow(_) => "Cwfs3 Follow"
case Odgw1Follow(_) => "Odgw1 Follow"
case Odgw2Follow(_) => "Odgw2 Follow"
case Odgw3Follow(_) => "Odgw3 Follow"
case Odgw4Follow(_) => "Odgw4 Follow"
case McsPark => "Mcs Park"
case ScsPark => "Scs Park"
case CrcsPark => "Crcs Park"
case Pwfs1Park => "Pwfs1 Park"
case Pwfs2Park => "Pwfs2 Park"
case OiwfsPark => "Oiwfs Park"
case AowfsPark => "Aowfs Park"
case Cwfs1Park => "Cwfs1 Park"
case Cwfs2Park => "Cwfs2 Park"
case Cwfs3Park => "Cwfs3 Park"
case Odgw1Park => "Odgw1 Park"
case Odgw2Park => "Odgw2 Park"
case Odgw3Park => "Odgw3 Park"
case Odgw4Park => "Odgw4 Park"
case CrcsStop(_) => "Crcs Stop"
case CrcsMove(_) => "Crcs Move"
case _: EcsCarouselMode => "Ecs Carousel Mode"
case _: EcsVentGatesMove => "Ecs Vent Gates Move"
case Slew => "Slew"
case InstSpecifics => "Instrument Specifics"
case OiwfsTarget => "OIWFS"
case OiwfsProbeTracking => "OIWFS Probe Tracking"
case RotatorTrackingConfig => "CR Tracking Configuration"
}
}

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22 changes: 15 additions & 7 deletions modules/server/src/main/scala/navigate/server/NavigateEngine.scala
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Original file line number Diff line number Diff line change
Expand Up @@ -8,12 +8,12 @@ import cats.effect.{Async, Concurrent, Ref, Temporal}
import cats.effect.kernel.Sync
import cats.syntax.all.*
import org.typelevel.log4cats.Logger
import navigate.model.NavigateCommand.{CrcsFollow, CrcsMove, CrcsPark, CrcsStop, EcsCarouselMode, InstSpecifics, McsFollow, McsPark, OiwfsFollow, OiwfsPark, OiwfsProbeTracking, OiwfsTarget, Slew}
import navigate.model.NavigateCommand.*
import navigate.model.{NavigateCommand, NavigateEvent}
import navigate.model.NavigateEvent.{CommandFailure, CommandPaused, CommandStart, CommandSuccess}
import navigate.model.config.NavigateEngineConfiguration
import navigate.model.enums.{DomeMode, ShutterMode}
import navigate.server.tcs.{InstrumentSpecifics, SlewConfig, Target, TrackingConfig}
import navigate.server.tcs.{InstrumentSpecifics, RotatorTrackConfig, SlewConfig, Target, TrackingConfig}
import navigate.stateengine.StateEngine
import NavigateEvent.NullEvent
import fs2.{Pipe, Stream}
Expand All @@ -32,6 +32,7 @@ trait NavigateEngine[F[_]] {
def rotPark: F[Unit]
def rotFollow(enable: Boolean): F[Unit]
def rotMove(angle: Angle): F[Unit]
def rotTrackingConfig(cfg: RotatorTrackConfig): F[Unit]
def ecsCarouselMode(
domeMode: DomeMode,
shutterMode: ShutterMode,
Expand Down Expand Up @@ -181,6 +182,13 @@ object NavigateEngine {
systems.tcsSouth.oiwfsFollow(enable),
Focus[State](_.oiwfsFollowInProgress)
)

override def rotTrackingConfig(cfg: navigate.server.tcs.RotatorTrackConfig): F[Unit] = command(
engine,
RotatorTrackingConfig,
systems.tcsSouth.rotTrackingConfig(cfg),
Focus[State](_.rotTrackingConfigInProgress)
)
}

def build[F[_]: Concurrent: Logger](
Expand All @@ -198,15 +206,15 @@ object NavigateEngine {
rotParkInProgress: Boolean,
rotFollowInProgress: Boolean,
rotMoveInProgress: Boolean,
rotTrackingConfigInProgress: Boolean,
ecsDomeModeInProgress: Boolean,
ecsVentGateMoveInProgress: Boolean,
slewInProgress: Boolean,
oiwfsInProgress: Boolean,
instrumentSpecificsInProgress: Boolean,
rotIaaInProgress: Boolean,
oiwfsProbeTrackingInProgress: Boolean,
oiwfsParkInProgress: Boolean,
oiwfsFollowInProgress: Boolean
oiwfsFollowInProgress: Boolean,
) {
lazy val tcsActionInProgress: Boolean =
mcsParkInProgress ||
Expand All @@ -215,12 +223,12 @@ object NavigateEngine {
rotParkInProgress ||
rotFollowInProgress ||
rotMoveInProgress ||
rotTrackingConfigInProgress ||
ecsDomeModeInProgress ||
ecsVentGateMoveInProgress ||
slewInProgress ||
oiwfsInProgress ||
instrumentSpecificsInProgress ||
rotIaaInProgress ||
instrumentSpecificsInProgress
oiwfsProbeTrackingInProgress ||
oiwfsParkInProgress ||
oiwfsFollowInProgress
Expand All @@ -233,12 +241,12 @@ object NavigateEngine {
rotParkInProgress = false,
rotFollowInProgress = false,
rotMoveInProgress = false,
rotTrackingConfigInProgress = false,
ecsDomeModeInProgress = false,
ecsVentGateMoveInProgress = false,
slewInProgress = false,
oiwfsInProgress = false,
instrumentSpecificsInProgress = false,
rotIaaInProgress = false,
oiwfsProbeTrackingInProgress = false,
oiwfsParkInProgress = false,
oiwfsFollowInProgress = false
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12 changes: 12 additions & 0 deletions modules/server/src/main/scala/navigate/server/tcs/RotatorTrackConfig.scala
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@@ -0,0 +1,12 @@
// Copyright (c) 2016-2023 Association of Universities for Research in Astronomy, Inc. (AURA)
// For license information see LICENSE or https://opensource.org/licenses/BSD-3-Clause

package navigate.server.tcs

import cats.Eq
import lucuma.core.math.Angle

case class RotatorTrackConfig (
ipa: Angle,
mode: RotatorTrackingMode
)
17 changes: 17 additions & 0 deletions modules/server/src/main/scala/navigate/server/tcs/RotatorTrackingMode.scala
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@@ -0,0 +1,17 @@
// Copyright (c) 2016-2023 Association of Universities for Research in Astronomy, Inc. (AURA)
// For license information see LICENSE or https://opensource.org/licenses/BSD-3-Clause

package navigate.server.tcs

import lucuma.core.util.Enumerated

sealed abstract class RotatorTrackingMode(val tag: String) extends Product with Serializable

object RotatorTrackingMode {

case object Tracking extends RotatorTrackingMode("Tracking")
case object Fixed extends RotatorTrackingMode("Fixed")

given Enumerated[RotatorTrackingMode] = Enumerated.from(Tracking, Fixed).withTag(_.tag)

}
3 changes: 2 additions & 1 deletion modules/server/src/main/scala/navigate/server/tcs/SlewConfig.scala
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Original file line number Diff line number Diff line change
Expand Up @@ -7,5 +7,6 @@ case class SlewConfig(
slewOptions: SlewOptions,
baseTarget: Target,
instrumentSpecifics: InstrumentSpecifics,
oiwfs: Option[GuiderConfig]
oiwfs: Option[GuiderConfig],
rotatorTrackConfig: RotatorTrackConfig
)
5 changes: 5 additions & 0 deletions modules/server/src/main/scala/navigate/server/tcs/TcsBaseController.scala
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Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,7 @@ trait TcsBaseController[F[_]] {
def instrumentSpecifics(config: InstrumentSpecifics): F[ApplyCommandResult]
def oiwfsTarget(target: Target): F[ApplyCommandResult]
def rotIaa(angle: Angle): F[ApplyCommandResult]
def rotTrackingConfig(cfg: RotatorTrackConfig): F[ApplyCommandResult]
def oiwfsProbeTracking(config: TrackingConfig): F[ApplyCommandResult]
def oiwfsPark: F[ApplyCommandResult]
def oiwfsFollow(enable: Boolean): F[ApplyCommandResult]
Expand All @@ -38,5 +39,9 @@ object TcsBaseController {
case class TcsConfig(
sourceATarget: Target
)

val SystemDefault: String = "FK5"
val EquinoxDefault: String = "J2000"
val FixedSystem: String = "Fixed"

}
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